fieldbus_driver.h File Reference

#include <array>
#include <chrono>
#include <cstddef>
#include <cstdint>
#include <expected>
#include <functional>
#include <mutex>
#include <optional>
#include <span>
#include <string>
#include <string_view>
#include <vector>

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Classes
struct	mm::comm::SlaveInfo
	Immutable identity fields read from a slave's EEPROM during configuration. More...
struct	mm::comm::OdEntry
	Schema of a single object dictionary entry uploaded from a slave. More...
struct	mm::comm::SlaveIo
	One slave's input and output windows within the process-data images. More...
struct	mm::comm::PdoLayout
	Layout of the process-data images, produced by configureProcessData. More...
struct	mm::comm::SyncManagerConfig
	One Sync Manager's configuration as programmed on a slave's ESC. More...
struct	mm::comm::FmmuConfig
	One FMMU's configuration as programmed on a slave's ESC. More...
struct	mm::comm::MailboxConfig
	Mailbox configuration for a slave (the CoE/FoE/EoE/SoE transport windows). More...
struct	mm::comm::DcConfig
	Distributed-clock configuration for a slave. More...
struct	mm::comm::SlaveConfig
	Static ESC configuration snapshot for one slave, captured by configureProcessData. More...
struct	mm::comm::PortDiagnostics
	Per-port link state and error counters decoded from a slave's ESC. More...
struct	mm::comm::SlaveDiagnostics
	Decoded health diagnostics for one slave, read live from its ESC registers. More...
struct	mm::comm::DcSyncDiagnostics
	Live distributed-clock synchronisation status for one slave, read from its ESC. More...
struct	mm::comm::ProcessDataWatchdogConfig
	Process-data (sync-manager) watchdog configuration of one slave. More...
class	mm::comm::FieldbusDriver
	Abstract interface for an EtherCAT fieldbus driver. More...
struct	mm::comm::FieldbusDriver::SlaveStateRaw
	One slave's AL Status and AL Status Code registers — the "where" and the "why". More...

Namespaces
namespace	mm
namespace	mm::comm

Enumerations
enum class	mm::comm::EtherCatState : uint16_t {   mm::comm::Init = 0x01 , mm::comm::PreOp = 0x02 , mm::comm::Boot = 0x03 , mm::comm::SafeOp = 0x04 ,   mm::comm::Op = 0x08 }
	EtherCAT Application Layer state values. More...

Functions
EtherCatState	mm::comm::alState (uint16_t alStatus)
	Extracts the AL state (bits 3:0) from a raw AL Status register value (0x0130).
bool	mm::comm::alHasError (uint16_t alStatus)
	Returns whether the AL Status error indicator (bit 4 of register 0x0130) is set.
std::string_view	mm::comm::toString (EtherCatState state)
	Human-readable name of an AL state, for log and error messages.
int	mm::comm::workingCounterContribution (EtherCatState state, bool hasOutputs, bool hasInputs)
	Working-counter contribution of one slave for a given AL state and PDO presence.

Variables
constexpr std::size_t	mm::comm::kMaxProcessImageBytes = 32768
	Maximum size in bytes of the combined process-data image (all outputs + all inputs).